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Status report of Dynamic Map
Field Operational Tests
13th, November, 2018
MITSUBISHI ELECTRIC CORPORATION
YOSHIAKI TSUDA
1© Mitsubishi Electric Corporation
The Field Operational Tests (FOT) are implemented using
the following framework.
System
Implementation
WG
Map Structuring
TF
FOT Planning TF
Large-scale Field Operational Test Operation
Executive Secretariat
Stakeholders of FOT
Dynamic Map FOT WG
Dynamic map FOT
contractor
(Operational Secretariat)
FOT Participants
■OEMs
: JPN x 7
: Overseas x 3
■Suppliers
: JPN x 4
: Overseas x 3
: Others x 3
(+universities)
Total: 20 parties
(2018/11/13 now)
1. Framework of Dynamic Map FOT
SIP-adus
Promoting
Committee
* + one supplier from FY 2018
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2. FOT Status
Major
categoryCategory
2017 2018 2019
9 10 11 12 1 2 3 4 5 6 7 8 9 10 11 12 1 2 3
Preparation/
Provision/
Evaluation
Static data :
300km
Static data :
758km
Static data :
updated data
Semi-dynamic
data
Dynamic data
Conclusion Static data
Dynamic data
Meetings/
Events
Dynamic Map
FOT WG
○ ○ ○ ○ ○ ○ ○ ○ ○ ○
SIP-adus WS ★ ★
The status of FOT is as follows.
11/13-15
SIP-adus Workshop
10 meetings
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3. Data for Dynamic Map FOT
Data Data: detail Media
(1)Dynamic Traffic signal
information
Advanced infrared
beacon
& 760MHz
(2)Semi-
dynamic
Lane-level traffic
flow information
(Probe data)
LTE
Lane-level traffic
restriction
information
ETC2.0(5.8GHz)
(3)Semi-
static
NA NA
(4)Static Map data DVD
Updated data DVD+LTE
The data and communication media of the FOT is as follows.
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4. System for Dynamic Map FOT
Advanced IR beacon
&
ETC2.0 Receiver
760MHz Receiver
PC
SmartphoneAntenna for 5.8HzDSRC + IR
Antenna for 760MHz
Test system of the FOT is consisted by infrastructures,
on-board units, FOT server, smartphone and PC.
Advanced infrared beacon
& ITS-RSU
(1)Traffic signal information
ETC2.0
RSU
(2)Lane-level traffic restriction
information
FOT server
DM & probe data
(2)Lane-level traffic flow information
(4)Updated map data
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5. Test area for the Dynamic Map FOT
JARI
Joban Expressway
Tomei Expressway
Shin-Tomei Expressway
The test area and locations for the FOT are shown as follows.
(4)Static
- Dynamic Map updateing
(2)Semi-dynamic
- Lane-level traffic restriction information
- traffic flow information
(2)Semi-dynamic
- Lane-level traffic restriction information
- traffic flow information
Shinbashi,
Toyosu,Odaiba
(1)Dynamic
- Traffic signal information
- Pedestrian information
- Information of vehicle
entering an intersection
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Legend• Selected “Used the feature” and “Sufficiently usable in current state.”:○• Selected “Used the feature” and “Acquisition standards and attributes should be
reviewed and revised.”:△• Not evaluated:-
5. Evaluation
5.1 Evaluation results of Static data
FOT Paticipants
○ △ -
Stop Line 9 2 7
Pedestrian Crossing 10 1 7
Traffic Signal 11 3 4
Road Shoulder 10 4 4
Road Center Line 12 2 4
Lane Line 11 5 2
Carriageway Edge 11 4 3
Road Marking 7 6 5
Road Signage 8 5 5
Carriageway Link 11 3 4
Lane Link 13 4 1
Intersection Lane Link 8 7 3
Intersection Area 8 3 7
Other Features 8 0 10
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A case of changes
in the real world
When the FOT participants evaluated
the map.(2017 winter)Viewer image(dynamic map static data)
Mismatched
When the map data prepared.
(2017 summer)
same
5. Evaluation
5.1 Evaluation results of Static data
Tomei Expressway, Yokohama Machida IC -Tokyo IC; There are no road signages.
Check the source data
These road signages are
existed in the source data.
>> After the preparing map
data, these road
signages have been
removed.
(Dashboard Camera)
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FOT area for
Geospatial Information Authority of Japan light color
map used for background map
Metropolitan ExpresswayLocation DVD
distribution
timing
LTE
delivery
timing
Update approach
1 Metropolitan Expressway
Horikiri/Kosuge Junction
From 6/13 From 6/21 Road shape
change (update)
2 Ordinary road
Odaiba (CRP addition)
From 6/13 From 6/21 Road shape
addition
(addition)
3 Metropolitan Expressway
Harumi entry/exit
(extension)
From 7/11 From 7/18 Road shape
change
(matching)
4 Ordinary road: Odaiba
(map update)
From 8/20 From 8/20 Road shape
change
(addition)
5 Metropolitan Expressway
Itabashi/Kumano Town
Junction
From 8/20 From 8/20 Road shape
change
(matching)
5. Evaluation
5.1 Evaluation results of Static data
Map update:5 case
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Evaluation results of map update
• In level 2 automated driving, map data could be used.• In level 4 or higher, map data might be used in
competitive area.
Automated driving level
Use of high accuracy Update frequency
Level 1 - -
Level 2 ✔ In case of difference update, data is updated every time.In case of mass update, data is updated or around half a year.
Level 3 ✔
Level 4 ✔(competitive area)
Level 5 ✔(competitive area)
5. Evaluation
5.1 Evaluation results of Static data
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5.2.1 Traffic flow information
Case1:Road-level
Even if only some lanes are traffic
congestion, it is shown that all lanes
are congested.
Traffic congestion
Traffic congestion
Road-level traffic flow information could be used as reference.
Lane-level traffic flow information could be used for route selection.
Traffic congestion
Case2:Lane-level
Only traffic congestion lanes are shown.
This information shows the real world.
Traffic congestion
Normal
Normal
Normal
Traffic congestion
Traffic congestion
5. Evaluation
5.2 Evaluation: Semi-dynamic data
Actual road traffic situation
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5.2.1 Traffic flow information
5. Evaluation
5.2 Evaluation: Semi-dynamic data
Case2:Lane-level
Source: Japan Road Traffic Information Center HP
Viewer image
Shiba park exitBefore the Ichinohashi JCT
Dashboard Camera
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Providing dataEven if only some lanes are traffic congestion, it is shown that all lanes are congested.
5.2.2 Lane-level traffic
restriction information
5. Evaluation
5.2 Evaluation: Semi-dynamic data Restriction start point
Tomei Kawasaki IC
Start from about 400 m
before the real situation
Restriction
Normal
Normal
NormalNormal
Actual road traffic situation
Dashboard Camera
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Shijo-mae
Tokyo Big Sight-mae
Ariake
Tennis-no-mori Park Ariake Station
©地理院タイル© Geospatial Information Authority of Japan
5. Evaluation
5.3 Evaluation: Dynamic data
Vehicle detection data
Pedestrian detection data
Viewer imageSignal
Vehicle
ITS Road Side Unit
(DSSS: DSSS(Driving Safety Support Systems)
TELECOM StationAdvanced IR beacon
(TSPS:Traffic Signal Prediction Systems)
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5. Evaluation
5.3 Evaluation: Dynamic data
Viewer imageDashboard Camera
Signal
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Automated driving level
Traffic signal
information
Pedestrian
information
Oncoming car
information
Level 1
Level 2
Level 3
Level 4
Level 5
5. Evaluation
5.4 Evaluation: Semi-dynamic data & Dynamic data
Evaluation results of Semi-dynamic data & Dynamic data
Semi-dynamic data & Dynamic data
has been in under evaluation.
*Evaluation by the FOT participants has been carrying from October.
We will report it as soon as the evaluation results are complete.
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6. Conclusion
• Through the FOT, we demonstrated the theory of dynamic
map in real environment.
>>The practicality and effectiveness of the dynamic map
were confirmed.
• We are conducting the FOT until the end of December,
and we will brush up this evaluation result.
• As a result of the FOT, it was verified that this map is
available for automated driving systems.
Thank you for your kind attention !
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